Inspired by this phenomenon, we propose Tool-As-Embodiment (TAE) as a new learning paradigm for mastering both gripper use and tool use with a single policy.
We adopt an existing framework [1]} for efficient vision-based manipulation learning and make it work regardless of if the embodiment is body or tool.
The result is a universal manipulation policy that can be applied recursively. For example, using grippers to pick up objects and using those objects as tools to pick up other objects as shown in fig:onecol.
